Delta DVP-ES2 User Manual download pdf (Page 477)

100

101

3. Instruction Set

3-361

6. Please use NO contact as the drive contact of DABSR instruction. If the drive contact is OFF

during the execution of DABSR, the instruction will be stopped and errors will occur on read

data.

7. If the drive contact of DABSR instruction turns OFF after the instruction is completed, the

servo ON (SON) signal connected to D

will also turn OFF and the operation will be disabled.

8. Flags: For the descriptions of M1010, M1029, M1102, M1103, M1334, M1335, M1336, M1337,

M1346, please refer to Points to Note.

Program Example:

1. When X7 = ON, the 32-bit absolute position data read from servo will be stored in the registers

storing present value of CH0 pulse output (D1348, D1349). At the same time, timer T10 is

enabled and starts to count for 5 seconds. If the instruction is not completed within 5 seconds,

M10 will be ON, indicating operation errors.

2. When enabling the connection to the system, please synchronize the power input of DVP-PLC

and SERVO AMP or activate the power of SERVO AMP earlier than DVP-PLC.

DABSR X0 Y4 D1348

TMR T0 K50

M11

M10

SET

M11

M1029

ABSR

completed

Execution

completed flag

ABSR timeout

ABS absolute position

data read is abnormal

ABS absolute position

data read is completed

Points to note:

3. Timing diagram of the operation of DABSR instruction:

SON

ABSM

TLC

ABSR

ZSP

D01

AMP output

Servo ON

ABS(bit 1)

ABS(bit 0)

ABS request

Transmission ready

ABS data

mode

transmission

Current position data 32-bit

+ check data 6-bit

Controller output

AMP output

1 2 ... 472 473 474 475 476 477 478 479 480 481 482 ... 701 702

Delta DVP-ES2 User Manual Page 477

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